CN113955136A - Unmanned aerial vehicle target hanging point calibration transfer station for automatic power grid inspection - Google Patents
Unmanned aerial vehicle target hanging point calibration transfer station for automatic power grid inspection Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/007—Helicopter portable landing pads
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/12—Inductive energy transfer
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/50—Charging stations characterised by energy-storage or power-generation means
- B60L53/51—Photovoltaic means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/32—Ground or aircraft-carrier-deck installations for handling freight
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
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Abstract
The utility model provides an automatic unmanned aerial vehicle target hanging point calibration transfer station that patrols and examines of electric wire netting, this transfer station is including the platform that takes off and land, control chip, communication module, solar energy electric storage module and the wireless module of charging of unmanned aerial vehicle, the platform that takes off and land is equipped with guide post and data line manipulator, the guide post separates for two parts through last pyramid part and the lower pyramid part that sets up along the horizontal plane symmetry, when unmanned aerial vehicle altitude variation, the picture that can shoot, along with each face that rises, the angle difference that sets up of face that falls, can change gradually, according to the angle establish in advance at each face that rises, the different color combination on the face that falls, form the fixed information of different color combinations, generally like the two-dimensional code, unmanned aerial vehicle only need pass through the image of the current color combination of camera discernment, compare existing angle gauge, just can discern the relative platform's of oneself height position relation. Even GPS signal flash, unmanned aerial vehicle coordinate skew also can compare the scene image according to discernment, and the program automatic guide descends. The safety of unmanned aerial vehicle when descending has been ensured.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle inspection, in particular to an unmanned aerial vehicle target hanging point calibration transfer station for automatic power grid inspection.
Background
The state net company definitely provides that the unmanned aerial vehicle inspection mode, the robot inspection mode and the helicopter inspection mode are applied to the inspection work of the power transmission line, so that the on-control, energy-control and controllable capabilities of the power transmission line are obviously improved. At present, many rotor unmanned aerial vehicle now wide application in overhead transmission line inspection operation, greatly improved the quality and the efficiency of transmission line especially the operation of traditional artifical inspection of mountain area circuit, unmanned aerial vehicle inspection gradually becomes the effective means of replacing artifical inspection. During power transmission line patrol under the condition of good vision field, a flyer can judge the flight environment and select safe flight altitude by visually observing and transmitting video information by an unmanned aerial vehicle real-time image, however, on the line of which a line tower is outside the sight distance range of the flyer, the course, the attitude, the speed and the surrounding environment of the airplane cannot be accurately judged by transmitting the video information by the real-time image, and the flight safety and the flight efficiency are seriously influenced.
In the prior art, the unmanned aerial vehicle automatic driving inspection algorithm technology research, the inspection big data analysis key technology research and the multi-rotor unmanned aerial vehicle automatic driving inspection line and result test point application are adopted, so that the multi-rotor unmanned aerial vehicle can autonomously inspect the tower, automatically avoid obstacles and finely inspect the track, autonomously plan and automatically collect, the existing organic inspection operation efficiency and safety are improved, and the dependence on manpower is eliminated.
However, the prior art has the defects that: the automatic inspection technology of the unmanned aerial vehicle depends on the assistance of a global positioning system to carry out positioning and navigation, and the precision and the stability of the automatic inspection technology directly influence the flight work of the whole unmanned aerial vehicle. And the environment of the power grid field tower is complex, and the unmanned aerial vehicle automatic inspection navigation is deviated due to the fact that coordinate data errors are easily generated by coordinate signal flash or electromagnetic interference, and accidents are caused.
Not only the channel skew problem, when automatic patrolling and examining need midway or return to navigate at the nest and charge, unmanned aerial vehicle need descend, and the coordinate data mistake more can lead to breaking down when descending, and the cost of maintenance that produces is huge. Therefore, need in the automatic in-process of patrolling and examining, supplementary unmanned aerial vehicle carries out the work of coordinate calibration to avoid unmanned aerial vehicle to break down.
Meanwhile, during the maintenance of the power grid in the field, if a certain spare part is insufficient, the worker can get time wasted again and again, and the worker can rely on the automatic inspection of the unmanned aerial vehicle to schedule the spare part, so that the maintenance work is greatly facilitated.
Disclosure of Invention
In order to overcome the defects of the technology, the invention provides the unmanned aerial vehicle target hanging point calibration transfer station for the automatic power grid inspection.
The technical scheme of the invention is as follows: a power grid automatic inspection unmanned aerial vehicle target hanging point calibration transfer station comprises a lifting platform, a control chip, a communication module, a solar energy storage module and an unmanned aerial vehicle wireless charging module, wherein the lifting platform is provided with a guide post and a data line manipulator, the guide post comprises an upper pyramid part and a lower pyramid part which are symmetrically arranged along a horizontal plane, a plurality of small pyramids are arranged on the surfaces of the upper pyramid part and the lower pyramid part, the small pyramids are lifting surfaces relative to the surface which is vertically above the lower pyramid part, and lifting surfaces and falling surfaces on the guide post are different in inclination with the surface of the lifting platform, different colors are arranged, corresponding angle changes form a color combination list in sequence, when the unmanned aerial vehicle lands on the lifting platform, the unmanned aerial vehicle shoots the change of the angle of the guide post along with the change of the height between the lifting platform and the lifting platform, the unmanned aerial vehicle determines and corrects the position relation between the unmanned aerial vehicle and the lifting platform according to the color change information of each lifting surface and the corresponding color combination list; the data line manipulator inserts unmanned aerial vehicle data interface after unmanned aerial vehicle descends to take off and land platform fixed coordinate calibration unmanned aerial vehicle self coordinate deviation.
By adopting the technical scheme, the communication module is used for remote data and signal transmission, and is convenient for remote control of workers. The solar energy power storage module converts and stores electric energy through the photovoltaic panel, and for each equipment and unmanned aerial vehicle power supply, the control chip controls each device to start and stop the action. The data line robot, namely the claw part of the conventional robot hand robot, is provided with a data interface for transmitting data. The wireless module that charges of unmanned aerial vehicle for unmanned aerial vehicle supplements the electric energy, corresponds to set up in descending endpoint department, is convenient for link up the operation. Are all the prior art and are not detailed.
According to the guide post, the upper pyramid part and the lower pyramid part which are symmetrically arranged along the horizontal plane are divided into two parts, when the height of the unmanned aerial vehicle changes, the pictures which can be shot can gradually change along with the difference of the setting angles of the lifting surfaces and the descending surfaces, different color combinations are preset on the lifting surfaces and the descending surfaces according to the angles, fixed information of different color combinations is formed, the unmanned aerial vehicle just needs to recognize the image of the current color combination through a camera as a two-dimensional code, and the height position relation of the unmanned aerial vehicle relative to the lifting platform can be recognized by comparing the existing angle meter. Even GPS signal flash, unmanned aerial vehicle coordinate skew also can compare the scene image according to discernment, and the program automatic guide descends. The safety of unmanned aerial vehicle when descending has been ensured.
The invention further comprises the following steps: the included angle between the adjacent surfaces of the upper pyramid part and the lower pyramid part is smaller than 90 degrees.
The invention further comprises the following steps: the landing platform is provided with a landing terminal, a landing conveyor belt and a position sensor, the landing conveyor belt is connected to the landing terminal and is provided with specific colors, the data line manipulator and the guide post are arranged at the landing terminal, the small pyramid lifting surface further comprises a left surface and a right surface, each left surface and each right surface on the guide post are provided with different colors according to different angles with the landing conveyor belt, when the unmanned aerial vehicle lands on the landing platform, the unmanned aerial vehicle determines and corrects the position relation between the unmanned aerial vehicle and the destination conveyor belt according to the color change information of each lifting surface shot and the color profile information of the destination conveyor belt, so that the landing position of the unmanned aerial vehicle is finally calibrated and the position of the load is changed, namely a uniform landing terminal is formed, and the position of the unmanned aerial vehicle is assisted to land in alignment through the color information of each left surface and the right surface, then is sent by the conveyor belt to the end point of falling and stops. Position sensor sets up along the conveyer belt, detects unmanned aerial vehicle and descends, or comes to the landing terminal point, just stops by control chip control conveyer belt.
The invention further comprises the following steps: the detachable of unmanned aerial vehicle bottom is provided with the spare part package, the inside spare part collecting chamber that is equipped with of platform that takes off and land, the transfer station is still including setting up in the unloader and the device of returning to the warehouse of descending endpoint department, unloader is lifted off or is loaded onto the spare part package by unmanned aerial vehicle, the device of returning to the warehouse links up discharge apparatus, deposits or takes out the spare part package in the spare part collecting chamber.
By adopting the technical scheme, the detachable load part bag of the unmanned aerial vehicle can allocate, transport and store parts in each transfer station according to the needs in the line patrol process, so that the condition that maintenance personnel tremble to and lack some parts is avoided.
The invention further comprises the following steps: the lifting platform is provided with a loading and unloading groove connected with a terminal point, the terminal point conveyor belts are positioned on two sides of the loading and unloading groove, the support legs of the unmanned aerial vehicle are respectively positioned on the terminal point conveyor belts on the two sides, and the part bag is positioned right above the loading and unloading groove;
the part bag comprises an accommodating cavity and a connecting seat positioned at the opening of the cavity, and the connecting seat is in screw connection with the bottom of the unmanned aerial vehicle;
the unloading device is positioned at the end point in the loading and unloading groove and comprises a lifting platform, a lifting cylinder, a pneumatic fixing claw and a screw screwing mechanism arranged corresponding to the position of a screw of the part package, wherein a contact switch is arranged at the end part of the pneumatic fixing seat facing the bottom surface of the part package and controls the pneumatic fixing seat to clamp the part package; the screw screwing mechanism is used for disassembling screws.
Adopt above-mentioned technical scheme, the loading and unloading goods groove structure who sets up makes unmanned aerial vehicle carry the high spare part package that is greater than the support frame height, also can steadily descend. And the unloading mechanism is used for disassembling and clamping the part pack. The contact switch identifies whether the starting point fixing claw contacts the part package.
The invention further comprises the following steps: the connecting seat is provided with a through hole corresponding to the screw, an anti-falling sleeve is arranged at the position corresponding to the screw cap of the screw, the screw is usually arranged in the through hole, and the screw cap is clamped between the anti-falling sleeve and the through hole; turn round screw mechanism and include casing, screwdriver pole, drive fluted disc, driving motor and spring, the one end outer peripheral face that the tool bit was kept away from to the screwdriver pole is equipped with the transmission key along the axial, the drive fluted disc corresponds the screwdriver pole and is provided with through-hole and keyway, should drive fluted disc and casing normal running fit, be equipped with the driving gear on the driving motor output shaft, this driving gear and the meshing of drive fluted disc, the turnover of drive screwdriver pole, the screwdriver pole stretches into in the casing through the transmission fluted disc, the spring sets up between screwdriver pole and casing.
By adopting the technical scheme, the screw is normally arranged in the through hole, the nut is clamped between the anti-falling sleeve and the through hole, the problem that the screw drops and cannot be automatically assembled when being disassembled is avoided, and the whole container is disassembled and replaced as a whole, so that the automatic operation is convenient. The screw mechanism of twisting that sets up, screwdriver pole are behind the contact screw, even lift platform is still being close to, also can carry out the axial through the shrink of spring and give way, avoid screwdriver pole top to turn over unmanned aerial vehicle. And the transmission fluted disc provided with the transmission key and the key groove provides power for circumferential rotation while facilitating axial sliding of the screwdriver rod.
The invention further comprises the following steps: the loading and unloading device comprises a loading and unloading groove, a lifting platform is arranged on the loading and unloading groove, a window communicated with a part containing chamber is arranged on one side of the path of the lifting platform, the part containing chamber comprises a plurality of cabinet bodies arranged in a serial number mode, the warehousing device comprises a carrying mechanical arm, the carrying mechanical arm and the unloading device are controlled by a control chip in a linkage mode, and the carrying mechanical arm penetrates through the window to be connected with a part package from a pneumatic fixed claw to be stored in the corresponding cabinet body or taken out otherwise.
By adopting the technical scheme, the control command is identified by the carrying manipulator, and the part package in the required cabinet body is correspondingly stored or taken out. The window can be used as an electric control door, and is waterproof and foreign-body-proof. Or the whole transfer station is used as an electric control ceiling and is matched with the unmanned aerial vehicle to be opened or closed to protect the transfer station.
The invention further comprises the following steps: and a fixed mechanical arm is arranged at the landing end point and clamps the unmanned aerial vehicle to keep the position fixed.
Adopt above-mentioned technical scheme, fixed unmanned aerial vehicle, the data line manipulator of being convenient for inserts, the interfacing apparatus of unloading.
Drawings
FIG. 1 is a block diagram of an embodiment of the present invention 1;
FIG. 2 is a view showing the structure of a guide post according to an embodiment of the present invention 1;
FIG. 3 is a view showing the construction of a guide post according to an embodiment of the present invention in FIG. 2;
FIG. 4 is a view showing the construction of a guide post according to an embodiment of the present invention 3;
FIG. 5 is a block diagram of an embodiment of the present invention, FIG. 2;
FIG. 6 is an exploded view of FIG. 1 in accordance with an embodiment of the present invention;
FIG. 7 is a diagram of a component package connection architecture according to an embodiment of the present invention;
FIG. 8 is a structural view of a screwing mechanism according to an embodiment of the present invention;
fig. 9 is a partial enlarged view of a portion a in fig. 3.
The device comprises a lifting platform 1, a landing conveyor belt 11, a part storage chamber 12, a loading and unloading groove 13, a window 14, a cabinet 15, a guide column 2, an upper pyramid part 21, a lower pyramid part 22, a small pyramid 23, a lifting surface 231, a lifting surface 232, a left surface 233, a right surface 234, a data line manipulator 3, an unmanned aerial vehicle 4, a part package 41, a connecting seat 411, a falling-preventing sleeve 412, a screw 42, a discharging device 5, a lifting platform 51, a lifting cylinder 52, a pneumatic fixing claw 53, a warehouse entering device 56, a screwing mechanism 7, a screw driver rod 71, a screw driver rod 72, a driving fluted disc 73, a driving motor 74, a spring 74, a screw driver and a screw driver, wherein the lifting device is a screw driver, 75-transmission keys, 76-driving gears and 8-fixed manipulators.
Detailed Description
As shown in fig. 1-9, a power grid automatic inspection unmanned aerial vehicle 4 target hanging point calibration transfer station comprises a lifting platform 1, a control chip, a communication module, a solar power storage module and an unmanned aerial vehicle 4 wireless charging module, wherein the lifting platform 1 is provided with a guide post 2 and a data line manipulator 3, the guide post 2 comprises an upper pyramid part 21 and a lower pyramid part 22 which are symmetrically arranged along a horizontal plane, the surfaces of the upper pyramid part 21 and the lower pyramid part 22 are respectively provided with a plurality of small pyramids 23, the surface of each small pyramid 23 which is relatively vertically above is a lifting surface 231, the surface of each small pyramid 23 which is relatively vertically below is a lowering surface 232, each lifting surface 231 and each lowering surface 232 on the guide post 2 are provided with different colors according to different inclinations with the surface of the lifting platform, a color combination list is sequentially formed corresponding to the angle change, when the unmanned aerial vehicle 4 lands on the lifting platform 1, the height of the unmanned aerial vehicle 4 changes with the take-off and landing platform 1, the angle of the shooting guide post 2 changes accordingly, and in the state shown in fig. 3, the unmanned aerial vehicle 4 determines and corrects the position relation between the unmanned aerial vehicle 4 and the take-off and landing platform 1 according to the color change information of the landing surface 232 of each lifting surface 231 and the color combination list; data line manipulator 3 inserts 4 data interfaces of unmanned aerial vehicle after 4 descents of unmanned aerial vehicle to 4 self coordinate deviations of take-off and landing platform 1 fixed coordinate calibration unmanned aerial vehicle.
The communication module is used for remote data and signal transmission, and is convenient for remote control of workers. The solar energy power storage module converts and stores electric energy through the photovoltaic panel, supplies power to each device and the unmanned aerial vehicle 4, and the control chip controls each device to start and stop. The data line robot 3, i.e., a claw portion of a conventional robot hand robot, is provided with a data interface for transmitting data. 4 wireless charging modules of unmanned aerial vehicle for 4 supplementary electric energy of unmanned aerial vehicle, correspond to set up in descending endpoint department, are convenient for link up the operation. Are all the prior art and are not detailed.
The angle between the adjacent faces of the upper pyramid part 21 and the lower pyramid part 22 is less than 90 deg..
The guide post 2 is divided into two parts by the upper pyramid part 21 and the lower pyramid part 22 which are symmetrically arranged along the horizontal plane, when the height of the unmanned aerial vehicle 4 changes, the pictures which can be shot can gradually change along with the difference of the arrangement angles of the lifting surfaces 231 and the descending surfaces 232, different color combinations are preset on the lifting surfaces 231 and the descending surfaces 232 according to the angles to form fixed information of different color combinations, and as a two-dimensional code, the unmanned aerial vehicle 4 can identify the height position relation of the unmanned aerial vehicle relative to the lifting platform 51 only by identifying the image of the current color combination through a camera and comparing the existing angle table. Even if GPS signal flash, 4 coordinate deviations of unmanned aerial vehicle also can compare the scene image according to discernment, and the program automatic guide descends. The safety of unmanned aerial vehicle 4 when descending has been ensured.
The lifting platform 1 is provided with a landing terminal, a landing conveyor belt 11 and a position sensor, the landing conveyor belt 11 is connected to the landing terminal and is provided with specific colors, the data line manipulator 3 and the guide post 2 are arranged at the landing terminal, the small pyramid 23 relative to the lifting surface 231 also comprises a left surface 233 and a right surface 234, each left surface 233 and each right surface 234 on the guide post 2 are provided with different colors according to different angles with the landing conveyor belt 11, when the unmanned aerial vehicle 4 lands on the lifting platform 1, the unmanned aerial vehicle 4 determines and corrects the position relation between the self and the terminal conveyor belt according to the color change information (shown in figure 4) of each lifting surface 231 and the color profile information of the terminal conveyor belt and the position relation of the self and the terminal conveyor belt so as to ensure that the landing position of the unmanned aerial vehicle 4 is the final position for calibrating coordinates and replacing the load, namely a uniform terminal is formed, so the color information of the left side 233 and the right side 234 assists the unmanned aerial vehicle 4 to land in alignment with the landing, and then the unmanned aerial vehicle is conveyed to the landing terminal by the conveyor belt to stop. Position sensor sets up along the conveyer belt, detects 4 descends of unmanned aerial vehicle, or comes to the landing terminal point, just stops by control chip control conveyer belt.
The detachable of 4 bottoms of unmanned aerial vehicle are provided with spare part package 41, the inside spare part collecting chamber 12 that is equipped with of platform 1 that takes off and land, the transfer station is still including setting up in the discharge devices 5 and the device 6 that returns the storehouse of landing endpoint department, discharge devices 5 unloads or installs spare part package 41 on by unmanned aerial vehicle 4, it links up discharge devices 5 to return the storehouse device 6, deposits or takes out spare part package 41 in spare part collecting chamber 12.
The detachable load component package 41 of the unmanned aerial vehicle 4 can allocate, transport and store components in each transfer station as required in the process of line patrol, thereby avoiding the situation that maintenance personnel tremble and leave out some components.
The lifting platform 1 is provided with a loading and unloading groove 13 connected with a terminal point, the terminal conveyor belts are positioned at two sides of the loading and unloading groove 13, supporting legs of the unmanned aerial vehicle 4 are respectively positioned on the terminal conveyor belts at two sides, and the part package 41 is positioned right above the loading and unloading groove 13;
the part package 41 comprises an accommodating cavity and a connecting seat 411 positioned at the opening of the cavity, and the connecting seat 411 is connected with a screw 42 at the bottom of the unmanned aerial vehicle 4;
the unloading device 5 is positioned at the end point in the loading and unloading groove 13 and comprises a lifting platform 51, a lifting cylinder 52, a pneumatic fixed claw 53 and a screw screwing mechanism 7 arranged corresponding to the position of a screw 42 of the part pack 41, wherein a contact switch is arranged at the end part of the pneumatic fixed seat facing the bottom surface of the part pack 41 and controls the pneumatic fixed seat to clamp the part pack 41; the screwing mechanism 7 unloads the screw 42.
The loading and unloading goods groove 13 structure that sets up makes unmanned aerial vehicle 4 carry the height and when being greater than the spare part package 41 of support frame height, also can steadily descend. And a discharge mechanism for removing and gripping the component pack 41. The contact switch recognizes whether the start fixing claw contacts the part pack 41.
The connecting seat 411 is provided with a through hole corresponding to the screw 42, an anti-falling sleeve 412 is arranged at the position corresponding to the nut of the screw 42, the screw 42 is usually arranged in the through hole, and the nut is clamped between the anti-falling sleeve 412 and the through hole; turn round screw 42 mechanism and include casing, screwdriver pole 71, drive fluted disc 72, driving motor 73 and spring 74, the one end outer peripheral face that screwdriver pole 71 kept away from the tool bit is equipped with drive key 75 along the axial, drive fluted disc 72 corresponds screwdriver pole 71 and is provided with through-hole and keyway, this drive fluted disc 72 and casing normal running fit, be equipped with driving gear 76 on the driving motor 73 output shaft, this driving gear 76 meshes with drive fluted disc 72, and drive screwdriver pole 71 has enough to meet the need, screwdriver pole 71 stretches into in the casing through the drive fluted disc, spring 74 sets up between screwdriver pole 71 and casing.
The screw 42 is usually arranged in the through hole, the nut is clamped between the anti-falling sleeve 412 and the through hole, the screw 42 is prevented from falling off when being disassembled, the cross section of the anti-falling sleeve is U-shaped, two sides of the screw and the edge of the nut are blocked, a hole is reserved in the middle for a screw arbor to enter, the axial moving range of the screw is limited, and the rotation of the screw is not influenced. And the problem that the automatic assembly cannot be realized is that one part package 41 is taken as a container whole and is integrally disassembled and replaced, so that the automatic operation is convenient. Screw mechanism 7 is twisted in the setting, and screwdriver pole 71 is behind contact screw 42, even lift platform 51 is still being close to, also can carry out the axial through the shrink of spring 74 and give way, avoids screwdriver pole 71 to push up and turns over unmanned aerial vehicle 4. The driving key 75 and the driving fluted disc with the key groove are arranged, so that the screwdriver rod 71 can slide axially and provide power for circumferential rotation.
The loading and unloading groove 13 is provided with a window 14 communicated with the part containing chamber 12 at one side of the path of the lifting platform 51, the part containing chamber 12 comprises a plurality of cabinets 15 arranged in a number, the warehousing device 6 comprises a carrying manipulator, the carrying manipulator and the unloading device 5 are controlled by a control chip in a linkage mode, and the carrying manipulator penetrates through the window 14, is connected with a part package 41 from the pneumatic fixing claw 53 and is stored in the corresponding cabinet 15, or is taken out otherwise.
The control command is recognized by the carrying manipulator, and the part package 41 in the required cabinet 15 is correspondingly stored or taken out. The window 14 can be used as an electric control door to prevent water and foreign matters. Or the whole transfer station is used as an electric control ceiling and is matched with the unmanned aerial vehicle 4 to be opened or closed to protect the transfer station.
Descending endpoint department is equipped with fixed manipulator 8, and this 8 centre gripping unmanned aerial vehicle 4 of fixed manipulator keep the rigidity.
Fixed unmanned aerial vehicle 4, the manipulator 3 of the data line of being convenient for inserts, 5 docks of discharge devices.
Claims (8)
1. The utility model provides an automatic unmanned aerial vehicle target hanging point calibration transfer station that patrols and examines of electric wire netting, this transfer station includes take off and land platform, control chip, communication module, solar energy power storage module and the wireless module of charging of unmanned aerial vehicle, its characterized in that: the unmanned aerial vehicle is characterized in that the lifting platform is provided with a guide post and a data line manipulator, the guide post comprises an upper pyramid part and a lower pyramid part which are symmetrically arranged along a horizontal plane, the surfaces of the upper pyramid part and the lower pyramid part are respectively provided with a plurality of small pyramids, the surface of each small pyramid part, which is relatively positioned above the vertical direction, is a lifting surface, the surface of each small pyramid part, which is relatively positioned below the vertical direction, is a lifting surface, the lifting surfaces and the lifting surfaces on the guide post are respectively provided with different colors according to different gradients with the surface of the lifting platform, and color combination lists are sequentially formed corresponding to angle changes; the data line manipulator inserts unmanned aerial vehicle data interface after unmanned aerial vehicle descends to take off and land platform fixed coordinate calibration unmanned aerial vehicle self coordinate deviation.
2. The automatic unmanned aerial vehicle target hanging point calibration transfer station that patrols and examines of electric wire netting according to claim 1, characterized in that: be equipped with descending terminal point, descending conveyer belt and position sensor on the platform of taking off and land, this descending conveyer belt links up to the descending terminal point, and is equipped with specific color, data line manipulator, guide post set up in descending terminal point department, the relative lifting surface of little pyramid still includes left surface, right side, each left surface and right side on the guide post are according to and descend the angle difference between the conveyer belt, set up different colors, and unmanned aerial vehicle sets up different colors when the platform of taking off and land descends, and unmanned aerial vehicle is according to the color change information of each lifting surface of shooting, and discernment terminal point conveyer belt color profile information, confirms and revises self and terminal point conveyer belt's position relation, descends on terminal point conveyer belt, is carried to the descending terminal point by the terminal point conveyer belt.
3. The automatic unmanned aerial vehicle target hanging point calibration transfer station that patrols and examines of electric wire netting according to claim 2, characterized in that: the detachable of unmanned aerial vehicle bottom is provided with the spare part package, the inside spare part collecting chamber that is equipped with of platform that takes off and land, the transfer station is still including setting up in the unloader and the device of returning to the warehouse of descending endpoint department, unloader is lifted off or is loaded onto the spare part package by unmanned aerial vehicle, the device of returning to the warehouse links up discharge apparatus, deposits or takes out the spare part package in the spare part collecting chamber.
4. The automatic unmanned aerial vehicle target hanging point calibration transfer station that patrols and examines of electric wire netting according to claim 3, characterized in that: the lifting platform is provided with a loading and unloading groove connected with a terminal point, the terminal point conveyor belts are positioned on two sides of the loading and unloading groove, the support legs of the unmanned aerial vehicle are respectively positioned on the terminal point conveyor belts on the two sides, and the part bag is positioned right above the loading and unloading groove;
the part bag comprises an accommodating cavity and a connecting seat positioned at the opening of the cavity, and the connecting seat is in screw connection with the bottom of the unmanned aerial vehicle;
the unloading device is positioned at the end point in the loading and unloading groove and comprises a lifting platform, a lifting cylinder, a pneumatic fixing claw and a screw screwing mechanism arranged corresponding to the position of a screw of the part package, wherein a contact switch is arranged at the end part of the pneumatic fixing seat facing the bottom surface of the part package and controls the pneumatic fixing seat to clamp the part package; the screw screwing mechanism is used for disassembling screws.
5. The automatic unmanned aerial vehicle target hanging point calibration transfer station that patrols and examines of electric wire netting according to claim 4, characterized in that: the connecting seat is provided with a through hole corresponding to the screw, an anti-falling sleeve is arranged at the position corresponding to the screw cap of the screw, the screw is usually arranged in the through hole, and the screw cap is clamped between the anti-falling sleeve and the through hole; turn round screw mechanism and include casing, screwdriver pole, drive fluted disc, driving motor and spring, the one end outer peripheral face that the tool bit was kept away from to the screwdriver pole is equipped with the transmission key along the axial, the drive fluted disc corresponds the screwdriver pole and is provided with through-hole and keyway, should drive fluted disc and casing normal running fit, be equipped with the driving gear on the driving motor output shaft, this driving gear and the meshing of drive fluted disc, the turnover of drive screwdriver pole, the screwdriver pole stretches into in the casing through the transmission fluted disc, the spring sets up between screwdriver pole and casing.
6. The automatic unmanned aerial vehicle target hanging point calibration transfer station that patrols and examines of electric wire netting according to claim 5, characterized in that: the loading and unloading device comprises a loading and unloading groove, a lifting platform is arranged on the loading and unloading groove, a window communicated with a part containing chamber is arranged on one side of the path of the lifting platform, the part containing chamber comprises a plurality of cabinet bodies arranged in a serial number mode, the warehousing device comprises a carrying mechanical arm, the carrying mechanical arm and the unloading device are controlled by a control chip in a linkage mode, and the carrying mechanical arm penetrates through the window to be connected with a part package from a pneumatic fixed claw to be stored in the corresponding cabinet body or taken out otherwise.
7. The automatic unmanned aerial vehicle target hanging point calibration transfer station that patrols and examines of electric wire netting according to claim 6, characterized in that: and a fixed mechanical arm is arranged at the landing end point and clamps the unmanned aerial vehicle to keep the position fixed.
8. The automatic unmanned aerial vehicle target hanging point calibration transfer station that patrols and examines of electric wire netting according to claim 1, characterized in that: the included angle between the adjacent surfaces of the upper pyramid part and the lower pyramid part is smaller than 90 degrees.
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